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Follow googlecartographer/cartographer#801 (#657)

master
Christoph Schütte 2018-01-10 19:39:33 +01:00 committed by GitHub
parent 31655ba1cb
commit d10abbf588
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2 changed files with 5 additions and 3 deletions
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3
cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -332,7 +332,8 @@ void MapBuilderBridge::OnLocalSlamResult(
const int trajectory_id, const ::cartographer::common::Time time, const int trajectory_id, const ::cartographer::common::Time time,
const ::cartographer::transform::Rigid3d local_pose, const ::cartographer::transform::Rigid3d local_pose,
::cartographer::sensor::RangeData range_data_in_local, ::cartographer::sensor::RangeData range_data_in_local,
const std::unique_ptr<const ::cartographer::mapping::NodeId>) { const std::unique_ptr<const ::cartographer::mapping::
TrajectoryBuilderInterface::InsertionResult>) {
std::shared_ptr<const TrajectoryState::LocalSlamData> local_slam_data = std::shared_ptr<const TrajectoryState::LocalSlamData> local_slam_data =
std::make_shared<TrajectoryState::LocalSlamData>( std::make_shared<TrajectoryState::LocalSlamData>(
TrajectoryState::LocalSlamData{time, local_pose, TrajectoryState::LocalSlamData{time, local_pose,

5
cartographer_ros/cartographer_ros/map_builder_bridge.h
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@ -86,8 +86,9 @@ class MapBuilderBridge {
const int trajectory_id, const ::cartographer::common::Time time, const int trajectory_id, const ::cartographer::common::Time time,
const ::cartographer::transform::Rigid3d local_pose, const ::cartographer::transform::Rigid3d local_pose,
::cartographer::sensor::RangeData range_data_in_local, ::cartographer::sensor::RangeData range_data_in_local,
const std::unique_ptr<const ::cartographer::mapping::NodeId>) const std::unique_ptr<const ::cartographer::mapping::
EXCLUDES(mutex_); TrajectoryBuilderInterface::InsertionResult>
insertion_result) EXCLUDES(mutex_);
cartographer::common::Mutex mutex_; cartographer::common::Mutex mutex_;
const NodeOptions node_options_; const NodeOptions node_options_;